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<div class="title">CPoseOrPoint_detail.h</div> </div>
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<a href="_c_pose_or_point__detail_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef CPOSEORPOINT_DETAIL_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CPOSEORPOINT_DETAIL_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="keyword">namespace </span>mrpt
<a name="l00032"></a>00032 {
<a name="l00033"></a>00033 <span class="keyword">namespace </span>poses
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">class </span>CPoint2D;
<a name="l00036"></a>00036 <span class="keyword">class </span>CPoint3D;
<a name="l00037"></a>00037 <span class="keyword">class </span>CPose2D;
<a name="l00038"></a>00038 <span class="keyword">class </span>CPose3D;
<a name="l00039"></a>00039 <span class="keyword">class </span><a class="code" href="namespacemrpt_1_1poses.html#a1d4ae634d5f0417a36ca15a4d928300d">CPose3DQuat</a>;
<a name="l00040"></a>00040 <span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** Internal, auxiliary templates for MRPT classes */</span>
<a name="l00042"></a><a class="code" href="namespacemrpt_1_1poses_1_1detail.html">00042</a> <span class="keyword">namespace </span>detail
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <span class="keyword">template</span> <<span class="keyword">class</span> POSEORPOINT> <span class="keyword">struct </span>T3DTypeHelper; <span class="comment">// generic version. Specialized below.</span>
<a name="l00045"></a>00045
<a name="l00046"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1_t3_d_type_helper_3_01_c_point2_d_01_4.html#a5f82e27c73e6157644a33836a2786986a85dc5aa231983b3939d61ca1d1701d66">00046</a> <span class="keyword">template</span> <> <span class="keyword">struct </span>T3DTypeHelper<<a class="code" href="classmrpt_1_1poses_1_1_c_point2_d.html" title="A class used to store a 2D point.">CPoint2D</a>> { <span class="keyword">enum</span> { is_3D_val = 0 }; };
<a name="l00047"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1_t3_d_type_helper_3_01_c_point3_d_01_4.html#a3e09cbe9d9f304bedd595334329c9cbaa8bdcd5e8fa0c3dbb4b5bfa6441e6a475">00047</a> <span class="keyword">template</span> <> <span class="keyword">struct </span>T3DTypeHelper<<a class="code" href="classmrpt_1_1poses_1_1_c_point3_d.html" title="A class used to store a 3D point.">CPoint3D</a>> { <span class="keyword">enum</span> { is_3D_val = 1 }; };
<a name="l00048"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1_t3_d_type_helper_3_01_c_pose2_d_01_4.html#a42995483c3cb36cbfd927e74a7ec161aa5b15102670193712b70457f22029c6e2">00048</a> <span class="keyword">template</span> <> <span class="keyword">struct </span>T3DTypeHelper<<a class="code" href="classmrpt_1_1poses_1_1_c_pose2_d.html" title="A class used to store a 2D pose.">CPose2D</a>> { <span class="keyword">enum</span> { is_3D_val = 0 }; };
<a name="l00049"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1_t3_d_type_helper_3_01_c_pose3_d_01_4.html#a3684eb81754a2bda9d386ae747bd33c9aa41b911bba82b2d9d6328e6ed5f6611c">00049</a> <span class="keyword">template</span> <> <span class="keyword">struct </span>T3DTypeHelper<<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">CPose3D</a>> { <span class="keyword">enum</span> { is_3D_val = 1 }; };
<a name="l00050"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1_t3_d_type_helper_3_01_c_pose3_d_quat_01_4.html#adb40f7b31282b0646869d804a5b2eba5ae830ba4faf0583eebda4d639d646a4b0">00050</a> <span class="keyword">template</span> <> <span class="keyword">struct </span>T3DTypeHelper<<a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d_quat.html" title="A class used to store a 3D pose as a translation (x,y,z) and a quaternion (qr,qx,qy,qz).">CPose3DQuat</a>> { <span class="keyword">enum</span> { is_3D_val = 1 }; };
<a name="l00051"></a>00051
<a name="l00052"></a>00052
<a name="l00053"></a>00053
<a name="l00054"></a>00054 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS, <span class="keywordtype">int</span> IS3D> <span class="keyword">struct </span>pose_point_impl; <span class="comment">// generic template, specialized below:</span>
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="comment">// Extra members for 3D implementation:</span>
<a name="l00057"></a>00057 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS> <span class="keyword">struct </span>pose_point_impl<DERIVEDCLASS,1>
<a name="l00058"></a>00058 {
<a name="l00059"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#a72883cddc045959984a0b4438f26576b">00059</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#a72883cddc045959984a0b4438f26576b">z</a>() const <span class="comment">/*!< Get Z coord. */</span> { <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><span class="keyword">const </span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[2]; }
<a name="l00060"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#a47066fe3a7f77a1ddc647c36c387cef2">00060</a> <span class="keyword">inline</span> <span class="keywordtype">double</span> &<a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#a47066fe3a7f77a1ddc647c36c387cef2">z</a>() <span class="comment">/*!< Get ref to Z coord. */</span> { <span class="keywordflow">return</span> <span class="keyword">static_cast<</span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[2]; }
<a name="l00061"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#a562cfc3f006ca24cdea62dced775fafc">00061</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#a562cfc3f006ca24cdea62dced775fafc">z</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> v) <span class="comment">/*!< Set Z coord. */</span> { <span class="keyword">static_cast<</span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[2]=v; }
<a name="l00062"></a><a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#ae31f2258c7611d970fff0cf22e05dc86">00062</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1poses_1_1detail_1_1pose__point__impl_3_01_d_e_r_i_v_e_d_c_l_a_s_s_00_011_01_4.html#ae31f2258c7611d970fff0cf22e05dc86">z_incr</a>(<span class="keyword">const</span> <span class="keywordtype">double</span> v) <span class="comment">/*!< Z+=v */</span> { <span class="keyword">static_cast<</span>DERIVEDCLASS*<span class="keyword">></span>(<span class="keyword">this</span>)->m_coords[2]+=v; }
<a name="l00063"></a>00063 };
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="comment">// Extra members for 2D implementation:</span>
<a name="l00066"></a>00066 <span class="keyword">template</span> <<span class="keyword">class</span> DERIVEDCLASS> <span class="keyword">struct </span>pose_point_impl<DERIVEDCLASS,0>
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 };
<a name="l00069"></a>00069
<a name="l00070"></a>00070 } <span class="comment">// End of namespace</span>
<a name="l00071"></a>00071 } <span class="comment">// End of namespace</span>
<a name="l00072"></a>00072 } <span class="comment">// End of namespace</span>
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="preprocessor">#endif</span>
</pre></div></div>
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